Pr r r P. ür ö r r. rst ür r t. r r 1 r rs tät r ür r. rs st r. P t

Transkript

1 r r 2st Pr r r P 2st t r t ür ö r r rst ür r t rt t 2st tr ss2st P t r r 1 r rs tät r ür r rs st r

2 Ü r 2st t r t Pr r str t r r r µ 2st r t t r ä t P t r r s t

3 t r t r t r t r r sät3 Ü r ü r tr t r s Pr r s r r Pr r r r s Pr s rrs r t s t 3 t r t r s t t r t rt r t r t r st s t ss t Pr r rs r r s t t r t s t s tt r r r st ss ÿ r t s t t t s r Pr r rs r rtr P s r r t rt 2st t r r t t t r s t t r t t s P Pr r str t r 5 ü r

4 s Pr t tt rst t 2 s s tt t s 2st r r s r t r r t r 0+&1 -)#''8)# 2#$3 ;<%&()%..#),=>?4@ "+'3.*A r r t t r r s rät 3 P ü r P ü r 95: ; # < s r t t r µ ü r rs ss2st s t t s t r t r s s P Pr r str t r 5 t s t

5 t s t s t s t r tt rst t s3 s r t s 0+&1 r t rs s r s -)#''8)# t ü rtr t r t s s r s s r s s s r s t r t 3 ätt t s t ü r rs r t P r tät st t s r s 2 t s r rt r tt r 2#$3 95: ; # < ;<%&()%..#),=>?4@ "+'3.*A s P Pr r str t r 5 t s t

6 t s t Pr r3 t r tr t t r tr t r r t tät t tr t r r t r t r t r s t str t r rt r t t r r sendbuf[] baud init curdev lasttemp lastwind Daten main() RS232Init() RS232Send() I2CRec() I2CStart() SendToPC() GetTemp() Aktivitäten s P Pr r str t r 5 t s t

7 t s t Pr r3 t r tr t t r tr t r r t tät t tr t r r t r t r t r s t str t r rt r t t r r Pr 3 r r r ts t r 3 t s tr t t r3 r r r r t r s st t r 3 r r t r r rs s3 s P Pr r str t r 5 t s t

8 r t r r t r t s r r r 3 r st t r r 3 r r ü r st t r P s t P s r ss P s t r t s r auto t t static t Pr r st rt Pr r s rä t Pr r st rt Pr r static t Pr r st rt Pr r int a = 0; static int b = 47; void f(void) { auto int a = b; static int c = 11; // a: global // b: local to module // a: local to function (auto optional) // destroyed at end of block // c: local to function, not destroyed s P Pr r str t r 5 r

9 r t r rts t r t s r s t r str t s t r t r t s s rä t ö Ü rr s r ÿ ss ÿ rs t r s t s r r 1 Pr 3 r t s r s r3 ö r t3 s r s s r t µ tr r P tt r s q 3 r r r s ü r s t r r r ü r s t Pr r 3 t r r t st ts r st ö t r t s r s P Pr r str t r 5 r

10 ös r s r r t s 3 s ör r t t ü r r t t sendbuf[] baud init curdev lasttemp lastwind main() RS232Send() I2CRec() SendToPC() RS232Init() RS232.c I2CStart() I2C.c GetTemp() weather.c s P Pr r str t r 5 r s r

11 s st := t t ttst class s röÿ r Pr r st Pr r t rt s ss t t r r r ö r r t r ö st s t r r t r s t s 1 Pr 3 r r t ss ÿ ü r s ttst str t ttst s s str rt r t tsä t r r t r t r rst r t s P Pr r str t r 5 r s r

12 st s 3 t t st t r r s r r t s ü r t r s rt s ttst.h t t ä t r t t r.c t t ä t t r #include <Modul.h> void RS232Init(uint16_t br); void RS232Send(char ch); #include <RS232.h> static uint16_t baud = 2400; static char sendbuf[16]; void RS232Init(uint16_t br) { baud = br; void RS232Send(char ch) { sendbuf[ ] = ch; RS232.h: ttst rtr ö t r t r r t st t t t RS232.c: t r t ö t t r r t st t t t t r s t t static s r ttst st t s r ss r rtr t r s P Pr r str t r 5

13 1 rt 1 rt rt rt 2 t r public 1 rt t static t r r private s rä r t r t 1 rt r t Ü rs t3 s r.c t.o t foo.c Compiler foo.o a, f t foo.c uint16_t a; // public static uint16_t b; // private void f(void) // public { static void g(int) // private { t t foo.o 2 a f r 1 rt rt 2 b g s static rt r s t 1 rt rt s P Pr r str t r 5

14 rt rt rt t rt r 2 t r r t r s r t rt s r Ü rs t3 s öst r rt t bar.c extern uint16_t a; // declare void f(void); void main() { a = 0x4711; f(); // declare // public // use // use t t bar.o 2 main r 1 rt rt 2 a f s öst s P Pr r str t r 5

15 rt rts t ös r t r r foo.c bar.c Compiler Compiler foo.o bar.o a, f main a, f Linker main, a, f bar st t t2 s r 2 r t s t t t r r ös r r r t ss ÿ ü r 2 3 r 2 s r t ss Ü rs t3 s r st t r t r t r s r t s P Pr r str t r 5

16 r t s r üss r rt r t r r r t void f(void); r r extern extern uint16_t a; s extern t rs t r r t r r t r t r s r s r r t r t r r t st t r ttst s s 1 rt rt t s s 1 rt rt r s s s 3 s st t 2 r s r r s r rt Ü r st r t t s r 3 st interface import implements s P Pr r str t r 5

17 r rts s ttst foo.h // foo.h #ifndef _FOO_H #define _FOO_H // declarations extern uint16_t a; void f(void); #endif // _FOO_H t r foo.c // foo.c #include <foo.h> // definitions uint16_t a; void f(void){ r bar.c r // bar.c extern uint16_t a; void f(void); #include <foo.h> void main() { a = 0x4711; f(); s P Pr r str t r 5

18 rü 3 s tt rst t preprocess Quellmodule Objektmodule link compile ELF-Binary RS232.h I2C.h RS232.c I2C.c gcc gcc (Compiler) gcc (Compiler) (Compiler) RS232.o I2C.o ld (Linker) weather weather.c weather.o io.h....h io.o....o....o....o....o....o avr-libc.lib s st t s r t r s t.h t rt ttst.c t t rt ttst rt.h t s r3 st ss r t t ü r st r r r r s 3 s.h t s 3 t rt ts r t s P Pr r str t r 5

19 s ss Pr 3 r r r r s r r r st s rt r t r r t r s t s st s 3 t t st t r r s r t s r t r s rt s ttst.h t t ä t r t t r.c t t ä t t r #include <Modul.h> private 2 s static r t s ü r t r r ös r t ss ÿ ü r 2 st t t2 s r 2 s r t ss Ü rs t3 s r st t r r s r t s P Pr r str t r 5 s ss

20 Ü r 2st t r t Pr r str t r r r µ 2st r t t r ä t P t r r s t

21 r r P t r t r a rst s rt s a r char a; ä t r ür rt a r r r char *p = &a; ä t r ür r 3 r ein a p s P r r 5 r ü r

22 r P t r r r P t r t ä t s rt r ss r r r r r st r r Ü r r ss r t r r r 3 r r s r s t rt r ÿ t r t ö r s r rs rä r 2 r r r ässt s r t s r 3 3 r s ä 3 t r Pr r r r Pr Pr r str t r r ü rs t r t r 3 r r s ä st rq Pr r s P r r 5 r ü r

23 t r r r r := ä t r ür r s r ss 2 t 1 t 2 3 r s int x = 5; x 5 int *ip; int y; ip = &x; ➊ ip y ➊ 5 ➋ r y = *ip; ➋ s P r r 5 r t

24 r ss r s r t r r ss r t r & x r är & r t r rt r 3 r ss r r r x r s r t r * y r är * r t r rt r r3 ä t r r r y r st r r 3 r s t (*(& x)) x r r s r t r st r r t s r ss r t rs t r rr s r s ü r t r s * 2 t rs t t 1t t t är x * y s rü r 2 3 r r uint8_t *p1, *p2 typedef char *CPTR t r t r s är x = *p1 s rü s s r ü r 3 r rr r ä s r s ür st t s 3 rs t s P r r 5 r t

25 r s t s r t P r t r r r 2 ü r P r t r rt r r r r t rt r t t tsä P r t r s r rs t ä r s t ür r r s r t r ä t s r ss r s s t s r t rs rü r r 3 r r s rä rt r r 2 r r s P r r 5 r t

26 r s t s r t rts s s tü r r void swap (int *, int *); int main() { int a=47, b=11;... swap(&a, &b); ➊... void swap (int *px, int *py) { int tmp; tmp = *px; ➋ *px = *py; ➌ *py = tmp; ➍ a b px py tmp ➊ ➌ ➍ ➋ s P r r 5 r t

27 r s t s r t rts s 3 s r tt void swap (int *, int *); int main() { int a=47, b=11;... swap(&a, &b); ➊ a 47 b 11 ➊ r void swap (int *px, int *py) { int tmp; px py tmp s P r r 5 r t

28 r s t s r t rts s 3 s r tt void swap (int *, int *); int main() { int a=47, b=11;... swap(&a, &b); a 47 b 11 r void swap (int *px, int *py) { int tmp; px py tmp s P r r 5 r t

29 r s t s r t rts s 3 s r tt void swap (int *, int *); int main() { int a=47, b=11;... swap(&a, &b); a 47 b 11 r void swap (int *px, int *py) { int tmp; tmp = *px; ➋ *px px py tmp s P r r 5 r t

30 r s t s r t rts s 3 s r tt void swap (int *, int *); int main() { int a=47, b=11;... swap(&a, &b); a 47 b 11 r void swap (int *px, int *py) { int tmp; tmp = *px; ➋ *px = *py; ➌ *px px *py py tmp 47 s P r r 5 r t

31 r s t s r t rts s 3 s r tt void swap (int *, int *); int main() { int a=47, b=11;... swap(&a, &b); a 11 b 11 r void swap (int *px, int *py) { int tmp; tmp = *px; ➋ *px = *py; ➌ px py ➌ tmp 47 s P r r 5 r t

32 r s t s r t rts s 3 s r tt void swap (int *, int *); int main() { int a=47, b=11;... swap(&a, &b); a 11 b 47 r void swap (int *px, int *py) { int tmp; tmp = *px; ➋ *px = *py; ➌ *py = tmp; ➍ px py ➍ tmp 47 s P r r 5 r t

33 r r rr 2s r := ä t r ür rt ss 2 s 2 t 1 t 2 3 r t s r 2 2 r rt = 3 r r r = r t s r s static uint8_t LEDs[8 * 2]; st t r 33 s r rt röÿ 3 r t r t s r auto r r r st s // constant, fixed array size void f(int n) { auto char a[num_leds * 2]; // constant, fixed array size auto char b[n]; // C99: variable, fixed array size s P r r 5 r ü r

34 t s r r r t t rt3 s r t uint8_t LEDs[4] = { RED0, YELLOW0, GREEN0, BLUE0 ; int prim[5] = { 1, 2, 3, 5, 7 ; r 3 t s r s t s r r st t t t s rt uint8_t LEDs[4] = { RED0 ; // => { RED0, 0, 0, 0 int prim[5] = { 1, 2, 3 ; // => { 1, 2, 3, 0, 0 r r 1 3 t s r s ss s st t 3 r t s r s t röÿ uint8_t LEDs[] = { RED0, YELLOW0, GREEN0, BLUE0 ; int prim[] = { 1, 2, 3, 5, 7 ; s P r r 5 r ü r

35 3 r 2 t 1 t s r t s r < ür = röÿ t 1 r t ü r rü t ä rq Pr r = s uint8_t LEDs[] = { RED0, YELLOW0, GREEN0, BLUE0 ; LEDs[3] = BLUE1; r for (unit8_t i = 0; i < 4; i++) { sb_led_on(leds[i]); LEDs[4] = GREEN1; // UNDEFINED!!! s P r r 5 r ü r

36 r s r 3 r st s2 t t s äq t 3 st t r s rst t s s array &array[0] s ä t r rt t rä rt r Ü r s r tt t r st r t r 3 r ö s s tü r int array[5]; array int *ip = array; ➊ int *ep; ep = &array[0]; ➋ ➊ ➋ 1 ➍ r ep = &array[2]; ➌ *ep = 1; ➍ ip ep ➊ ➋ ➌ ➌ s P r r 5 2 t t s q 3

37 r s r 3 r st s2 t t s äq t 3 st t r s rst t s s array &array[0] s ä t r rt t rä rt r Ü r s r tt t r st r t r 3 r ö s 3 s r tt int array[5]; array r int *ip = array; ➊ int *ep; ep = &array[0]; ➋ ep = &array[2]; ➌ ip ep ➌ s P r r 5 2 t t s q 3

38 r s r 3 r st s2 t t s äq t 3 st t r s rst t s s array &array[0] s ä t r rt t rä rt r Ü r s r tt t r st r t r 3 r ö s 3 s r tt int array[5]; array int *ip = array; ➊ int *ep; ep = &array[0]; ➋ r ep = &array[2]; ➌ *ep = 1; ➍ ip ep *ep ➌ s P r r 5 2 t t s q 3

39 r s r 3 r st s2 t t s äq t 3 st t r s rst t s s array &array[0] s 3 t t *array array[0] r r t r s s r r r t r t r s uint8_t LEDs[] = { RED0, YELLOW0, GREEN0, BLUE0 ; LEDs[3] = BLUE1; uint8_t *p = LEDs; r for (unit8_t i = 0; i < 4; i++) { sb_led_on(p[i]); s P r r 5 2 t t s q 3

40 t r t rs 3 3 r st r r ä t r r rt st rä r r s st r t t ö int array[3]; int *ip = array; ➊ array ip++; ➋ ip++; ➌ ip ➊ ➊ ➋ ➌ int array[5]; ip = array; ➊ (ip+3) &ip[3] r ip ➊ r r r t t r r röÿ s tt2 s t rü s t t s P r r 5 r r t t

41 r r t t r t r t t s r t ++ Prä P st r t rs s ä st t Prä P st r t rs s r t + t tr t s int rt s r s3 r st rs t tr t 3 r r 3 r t 3 s r st 3 r s r t < <= == >= >! = r ss s 33 r r r s P r r 5 r r t t

42 r s r s r s ss t t r r t t ässt s r t äq t r r t ür int i, array[n], *ip = array; t < t array &array[0] ip &ip[0] *array array[0] * ip ip[0] *(array + i) array[i] * (ip + i) ip[i] array++ ip++ r array st st t r rt ö r r t r r t r st t r r 3 r r t rä rt r s P r r 5 r r t t

43 r s t s r t r r r r s r ü r 2 r r static uint8_t LEDs[] = { RED0, YELLOW1 ; = void enlight(uint8_t *array, unsigned n) { for (unsigned i = 0; i < n; i++) sb_led_on(array[i]); void main() { enlight(leds, 2); uint8_t moreleds[] = { YELLOW0, BLUE0, BLUE1 ; enlight(moreleds, 3); r r t ü r röÿ r r röÿ ss 1 3 t s P r t r t ü r r ä s r t r t r 3 tr s r s ÿ NUL s P r r 5 r s t s r t r

44 r s t s r t r rts r r r s r ü r 2 r r r r P r t r s const r rt s t t t rä r t r t void enlight(const uint8_t *array, unsigned n) { = 3 3 ss r r r rt t r st äq t 2 t 1 ö r void enlight(const uint8_t array[], unsigned n) { t s t s r r t s t r t rs r t t array[] ö r t röÿ s t s r s st r tt s P r r 5 r s t s r t r

45 r s t s r t r rts t int strlen(const char *) s r t r t rt 3 r ü r tr void main() { const char *string = "hallo"; // string is array of char sb_7seg_shownumber(strlen(string)); t "hallo" h a l l o \0 r t r s r t r t 2 t 1 int strlen(const char s[]) { int n = 0; while (s[n]!= \0 ) n++; return n; r t r 2 t 1 int strlen(const char *s) { const char *end = s; while (*end!= \0 ) end++; return end - s; s P r r 5 r s t s r t r

46 r r r r r r r s int x = 5; int *ip = &x; int **ipp = &ip; /* ** ipp = 5 */ x 5 ip ipp r r r P r t rü r t öt t r r t r 2 r r ü r 3 swap() t ür r r ü r s P r r 5 r t rt rt2

47 r t r t r s t ss s t t ü r t ö r r r s // invokes job() every second void doperiodically(void (*job)(void)) { while (1) { job(); // invoke job for (volatile uint16_t i = 0; i < 0xffff; i++) ; // wait a second r void blink(void) { sb_led_toggle(red0); void main() { doperiodically(blink); // pass blink() as parameter s P r r 5 r t rt rt2

48 r t rts 2 t 1 t 2 3 r r P r t s r ä 3 r 2 t 1 t s r t 2 ü t2 r t s r r r s 3 r s t s3 rs r r P r t r P r t r r t s r r r s t s3 r r t r t r t 3 r tp r r ss r s r t r r t öt t t s 3 r st st t r t s3 r void blink(uint8_t which) { sb_led_toggle(which); void main() { void (*myfun)(uint8_t); // myfun is pointer to function myfun = blink; // blink is constant pointer to function myfun(red0); // invoke blink() via function pointer blink(red0); // invoke blink() s P r r 5 r t rt rt2

49 r t rts t s3 r r t ür ü r t s 3 r st s2 r r r ss r t st r // Example: asynchronous button events with libspicboard #include <avr/interrupt.h> // for sei() #include <7seg.h> // for sb_7seg_shownumber() #include <button.h> // for button stuff // callback handler for button events (invoked on interrupt level) void onbutton(button b, BUTTONEVENT e) { static int8_t count = 1; sb_7seg_shownumber(count++); // show no of button presses if (count > 99) count = 1; // reset at 100 r void main() { sb_button_registercallback( // register callback BUTTON0, BUTTONEVENT_PRESSED, // for this button and events onbutton // invoke this function ); sei(); // enable interrupts (necessary!) while (1) { // wait forever s P r r 5 r t rt rt2

50 s ss r r st r r ö t s r t r s rt r ür t r 2 r r r ür t r r t s t r s ä ä st r rs Pr r s2 t t s ö t s ä t r rr 2 3 r r * r ss r t r & r s r t r * r r t t t s2 t t s q 3 3 r [] r t r r r ö t r s Ü r t t Pr 3 r ü r t s P r r 5 s ss

51 Ü r 2st t r t Pr r str t r r r µ 2st r t t r ä t P t r r s t

52 s st µ tr r µ tr r := Pr 3 ss r + r + P r r t s t rs2st 2st ä r r 3 sät3 1t r st 3 t r t r r st ü st s 2st s s t s r st r t t P r r r t r t r ss ss 3ä P rts t s r P r t r s s s 2st P t r t r 3 s ÿ Pr 3 ss r µ P s s t r r s µ rr s t r ÿ r Pr 3 ss r s P µ 2st r t t r 5 Ü r

53 s s t PA0 - PA7 PC0 - PC7 VCC PORTA DRIVERS/BUFFERS PORTC DRIVERS/BUFFERS GND PORTA DIGITAL INTERFACE PORTC DIGITAL INTERFACE CPU-Kern AVCC AREF MUX & ADC PROGRAM COUNTER ADC INTERFACE STACK POINTER TWI TIMERS/ COUNTERS OSCILLATOR Peripherie Speicher PROGRAM FLASH INSTRUCTION REGISTER SRAM GENERAL PURPOSE REGISTERS INTERNAL OSCILLATOR WATCHDOG TIMER OSCILLATOR XTAL1 INSTRUCTION DECODER X Y Z MCU CTRL. & TIMING XTAL2 RESET CONTROL LINES ALU INTERRUPT UNIT INTERNAL CALIBRATED OSCILLATOR AVR CPU STATUS REGISTER EEPROM PROGRAMMING LOGIC SPI USART + COMP. - INTERFACE PORTB DIGITAL INTERFACE PORTB DRIVERS/BUFFERS PORTD DIGITAL INTERFACE PORTD DRIVERS/BUFFERS PB0 - PB7 PD0 - PD7

54 s P r t t r 0x0000 0x0046 0x1FFFF main:... wait:... IRQ-Vektoren Anwendungs- Code Boot-Code Programmadressraum (Flash) KiB, 2-Byte-Elemente Datenbus 16 8 Recheneinheit Adressbus 32 Register 64 IO-Register bis zu 160 Ext. IO-Register bis zu 4KiB internes SRAM bis zu knapp 60 KiB externes SRAM 0x0000 0x0020 0x0060 0x0100 0x1100 0xFFFF Datenadressraum (SRAM) 0 64 KiB, 1-Byte-Elemente r r r t t r tr t r r ür t P r r st r s r t s r r r r P s rt r t t r t s r st r r s 3 r ssr s P µ 2st r t t r 5 r t t r

55 r t t Pr 3 ss r Zero bit Programmspeicher Vcc SR RESET... Z SR SR` µc PC PC` R1 R1` Bus main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 r s s s r Ps r 3 ss rs r 3 3 r st r Pr r 3ä r P t t sr st r tt t s r t Pr r r t t r st r s P µ 2st r t t r 5 r t t r

56 r t t Pr 3 ss r RESET PC = 0x0000 Zero bit Programmspeicher Vcc SR RESET... Z SR SR` µc PC PC` R1 R1` Bus main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 w = *PC++ decode(w) execute(w) s P µ 2st r t t r 5 r t t r

57 r t t Pr 3 ss r RESET PC = 0x0000 Zero bit Programmspeicher Vcc SR RESET... Z SR SR` µc PC PC` R1 R1` Bus main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 w = *PC++ decode(w) execute(w) s P µ 2st r t t r 5 r t t r

58 r t t Pr 3 ss r RESET PC = 0x0000 Zero bit Programmspeicher Vcc SR RESET... Z SR PC SR` PC` µc R1 R1` Bus main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 w = *PC++ decode(w) execute(w) s P µ 2st r t t r 5 r t t r

59 r t t Pr 3 ss r RESET PC = 0x0000 Zero bit Programmspeicher Vcc SR RESET... Z 0 SR SR` µc PC PC` R1 47 R1` Bus main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 w = *PC++ decode(w) execute(w) w: dec <R> R = 1 if(r == 0) Z = 1 else Z = 0 w: beq <lab> if(z) PC = lab w: call <func> PC` = PC PC = func s P µ 2st r t t r 5 r t t r

60 r t t Pr 3 ss r RESET PC = 0x0000 Zero bit Programmspeicher Vcc SR RESET... Z 0 SR SR` µc PC PC` R1 47 R1` Bus main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 w = *PC++ decode(w) execute(w) w: dec <R> R = 1 if(r == 0) Z = 1 else Z = 0 w: beq <lab> if(z) PC = lab w: call <func> PC` = PC PC = func s P µ 2st r t t r 5 r t t r

61 r t t Pr 3 ss r RESET PC = 0x0000 Zero bit Programmspeicher Vcc SR RESET... Z 0 SR SR` µc PC PC` R1 58 R1` Bus main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 w = *PC++ decode(w) execute(w) w: dec <R> R = 1 if(r == 0) Z = 1 else Z = 0 w: beq <lab> if(z) PC = lab w: call <func> PC` = PC PC = func w: ret PC = PC` s P µ 2st r t t r 5 r t t r

62 P r r rät P r r rät r t P r r r t s ÿ r r tr t s t rs t st t r s r 2s s ÿ r r r t t r t ss t3 s Pr 3 ss rs t s s ÿ r P r r st r ü r st r s r tr r st r st r P r r r r t st r rt 3 DDRD t r st r t t st s 3 PORTD PIND st r s ä ür t r r s 3 r r 2 r r r 3 r r t 2 3 ss s P µ 2st r t t r 5 P r r

63 P r r rät s s t2 s P r r rät µ tr r r t r t r s2 r s r ttst r P r t r P rts ä r st r t r r r r r q 3 r r r 1t r t r r ö t r r r r ä rt t rr t s ös r r r äÿ s r r ss r s st s öst t st 3 r s r t s Ü rtr t t s2 r 3 r s2 r 3 Pr t st 3 r t s r t r s r t s r s rt 3 t st 3 r r r s t rt s s r ü r s s üss r s t3t r ö r r st r t r s P µ 2st r t t r 5 P r r

64 P r r rät st r s t rs r t t r ür r st r r2 st µ P rt s rt 1 s rt P s st r s r ssr t r r r t ü r r s Pr 3 ss rs load store st r s r ssr r s rt r r r t ü r s 3 in out st r r ss st r r r t t!""#$%% &'($ )*+,- )*+,. )*+,/ )*+,0 )*+,1 )*+,2 )*+,3 )*+,4 5'6$!"#$%!&#' ()*+, -. ( / !"*$%!&*' ( (466 (467 (48 (43 66!"9$%!&9' (4: (4; (4< (4& (4= (4" (4> (46 (47 66!"2$%!&2'?2)7 -@ABCD2EFGHBC7$?FHIFH$2EAIJCB$)BK@LHBC 3<!6>$%!">' 4?)-9 4?)-9; 4?)-9< 4?)-9& <; 4?)-9= 4?)-9" 4?)-9> 4?)-96 4?)-97!66$%!"6' 99)9 999; 999< 999& 999= 999" 999> <;!67$%!"7' 4,09 4,09; 4,09< 4,09& 4,09= 4,09" 4,09> 4,096 4,097 <3 s P µ 2st r t t r 5 P r r

65 P r r rät st r rts r2 st r r ö rt r st r r r r t r st r t 3 r r ü 3 PORTD++ 2 t t s r r r t r r s r t rt #define PORTD (*(volatile uint8_t *) s 0x12 {{ Adresse: int {{ Adresse: volatile uint8_t * st {{ Wert: volatile uint8_t r r 3 r ) PORTD st t s2 t t s äq t 3 r volatile uint8_t r r ss 0x12 t #define PORTD (*(volatile uint8_t *) 0x12) PORTD = (1<<7); // set D.7 uint8_t *preg = &PORTD; // get pointer to PORTD *preg &= ~(1<<7); // use pointer to clear D.7 s P µ 2st r t t r 5 P r r

66 st r3 r ä t P r r rät r t ä 3 r t r rt r r r st r s r3 t ä r s rs r t r s rs r 3 r r r r t s ü rt t r ö st r 3 s s rt r // C code #define PIND (*(uint8_t*) 0x10) void foo(void) { if (! (PIND & 0x2)) { // button0 pressed if (! (PIND & 0x4)) { // button 1 pressed // Resulting assembly code foo: lds r24, 0x0010 // PIND->r24 sbrc r24, 1 // test bit 1 rjmp L1 // button0 pressed L1: sbrc r24, 2 // test bit 2 rjmp L2 L2: ret PIND r t r t s r r r t ss r rt r24 t st s P µ 2st r t t r 5 1 rs volatile

67 r volatile 2 3 r r ös r volatile ü t stä r r r ä t r r s r3 ö st r rt r tt r r r s rt r tt r rä r 3 rü s r // C code #define PIND \ (*(volatile uint8_t*) 0x10) void foo(void) { if (! (PIND & 0x2)) { // button0 pressed if (! (PIND & 0x4)) { // button 1 pressed // Resulting assembly code foo: lds r24, 0x0010 // PIND->r24 sbrc r24, 1 // test bit 1 rjmp L1 // button0 pressed L1: lds r24, 0x0010 // PIND->r24 sbrc r24, 2 // test bit 2 rjmp L2 L2: ret PIND st volatile r s r st r t s r s P µ 2st r t t r 5 1 rs volatile

68 r volatile 2 3 r r rts volatile t r rt t r s s r s t r s r üt3 s t3t r t s rt 3 t r // C code // Resulting assembly code void wait(void) { wait: for (uint16_t i = 0; i < 0xffff; i++); // compiler has optimized // "unneeded" loop volatile! ret t t r volatile r rs t r st rt ö t r st r t r t r ö t r ü rt r volatile r r rü t ä r t s P µ 2st r t t r 5 1 rs volatile

69 P r r rät P rts P rt := r ü r s t s ä t r s t r 1t r r t rr t P s t rt s µ P s µ P t rt s µ P t rt Pr 3 ss r ü rt t rr t r r s t st ü r s r P r r r s 1t r r t rr t t r t t r st t ä P r r rät r t s P µ 2st r t t r 5 P rts

70 s P P rt P Power Ground Programming/debug Digital Analog Crystal/CLK PD2 (PTCXY/INT0/OC3B/OC4B) PD1 (PTCXY/OC4A/TXD0) PD0 (PTCXY/OC3A/RXD0) PC6 (RESET) PC5 (ADC5/PTCY/SCL0) PC4 (ADC4/PTCY/SDA0) PC3 (ADC3/PTCY) PC2 (ADC2/PTCY) s st rü st 3 r P t t r t r ü s t (OC2B/INT1/PTCXY) PD3 (XCK0/T0/PTCXY) PD PC1 (ADC1/PTCY/SCK1) PC0 (ADC0/PTCY/MISO1) t r t r t r (SDA1/ICP4/ACO/PTCXY) PE PE3 (ADC7/PTCY/T3/MOSI1) VCC 4 21 GND GND (SCL1/T4/PTCXY) PE1 (XTAL1/TOSC1) PB6 (XTAL2/TOSC2) PB AREF PE2 (ADC6/PTCY/ICP3/SS1) AVCC PB5 (PTCXY/XCK0/SCK0) P r r 3 P s s s r rt (OC0B/T1/PTCXY) PD5 (OC0A/PTCXY/AIN0) PD6 (PTCXY/AIN1) PD7 (ICP1/CLKO/PTCXY) PB0 (OC1A/PTCXY) PB1 (SS0/OC1B/PTCXY) PB2 (MOSI0/TXD1/OC2A/PTCXY) PB3 (MISO0/RXD1/PTCXY) PB4 P t P t s s r 3 s ÿ P st t r ür s P s t 3 r r ü s P µ 2st r t t r 5 P rts

71 s P rt st r Pr P rt 1 s r st r rt s ür 1 = DDR1 t r t st r t ür P st r s t r s s t r t r DDRD7 DDRD6 DDRD5 DDRD4 DDRD3 DDRD2 DDRD1 DDRD0 R/W R/W R/W R/W R/W R/W R/W R/W PORT1 t st r st P s s r rt s t t P st s s r st P s r rt s t rt t t r P rst t PORTD7 PORTD6 PORTD5 PORTD4 PORTD3 PORTD2 PORTD1 PORTD0 R/W R/W R/W R/W R/W R/W R/W R/W PIN1 t st r t r räs t rt P P ä r r t s s PIND7 PIND6 PIND5 PIND4 PIND3 PIND2 PIND1 PIND0 R/W R/W R/W R/W R/W R/W R/W R/W r s s s P µ 2st r t t r 5 P rts

72 tr t r t t r P rt r r r r r t t s är ss r s 3 s 3 ss r 3 str t r r s t t r t2 tr t r // Structure declaration struct Student { char lastname[64]; char firstname[64]; long matnum; int passed; ; // Variable definition struct Student stud; tr t rt2 sst t 3 s 2 3 s t t r t r r r t stud.lastname.firstname.matnum.passed???? s P µ 2st r t t r 5 1 rs r t2 struct union

73 tr t r r t t s r 3 rr 2 tr t r r t t s t s rt r struct Student { char lastname[64]; char firstname[64]; long matnum; int passed; ; struct Student stud = { "Meier", "Hans", 4711, 0 ; t s r r r r ü r r t ü r r 3 r 3 s P t t rq r 3 r t enum 2 t typedef r r typedef struct { volatile uint8_t *pin; volatile uint8_t *ddr; volatile uint8_t *port; port_t; port_t porta = { &PINA, &DDRA, &PORTA ; port_t portd = { &PIND, &DDRD, &PORTD ; s P µ 2st r t t r 5 1 rs r t2 struct union

74 tr t r t3 r.pin PINA porta.ddr 0 DDRA.port 0 PORTA tr t r t r t. r t r 3 r port_t porta = { &PINA, &DDRA, &PORTA ; *porta.port = 0; // clear all pins *porta.ddr = 0xff; // set all to input t t ö r Pr r tät s s P µ 2st r t t r 5 1 rs r t2 struct union

75 tr t r t3 r.pin PINA porta.ddr 0 DDRA pport.port 0 PORTA r tr t r ür r öt t port_t *pport = &porta; // p --> porta *(*pport).port = 0; // clear all pins *(*pport).ddr = 0xff; // set all to output t -> r t r ässt s s r s->m (*s).m port_t *pport = &porta; // p --> porta t s *pport->port = 0; // clear all pins ö r Pr r tät s *pport->ddr = 0xff; // set all to output s P µ 2st r t t r 5 1 rs r t2 struct union

76 tr t r s t s r t r s t3 3 rr 2s r tr t r 2 ü r void initport(port_t p) { *p.port = 0; // clear all pins *p.ddr = 0xff; // set all to output p.port = &PORTD; // no effect, p is local variable void main(void) { initport(porta); röÿ r tr t r r s s r 3 t Student s 2t 3 r r ss r ü r t r st t tr t r void initport(const port_t *p){ *p->port = 0; // clear all pins *p->ddr = 0xff; // set all to output // p->port = &PORTD; compile-time error, *p is const! void main(void) { initport(&porta); s P µ 2st r t t r 5 1 rs r t2 struct union

77 t tr t r t r tr t r t ö t r r tät st t r r r sst t r 3 ss 33 t2 3 s üt3 3 t r s st rs 3 3 r s EICRA 1t r t rr t tr st r t rt s ös r ür 1t r t rr t INT0 INT ISC11 ISC10 ISC01 ISC00 R/W R/W R/W R/W typedef struct { uint8_t ISC0 : 2; // bit 0-1: interrupt sense control INT0 uint8_t ISC1 : 2; // bit 2-3: interrupt sense control INT1 uint8_t reserved : 4; // bit 4-7: reserved for future use EICRA_t; s P µ 2st r t t r 5 1 rs r t2 struct union

78 s r tr t r t t r r r r ü r r rt r ässt s rs 2 t r r t r üt3 ür t s 2 sts s void main(void) { union { uint16_t val; uint8_t bytes[2]; u; u.val = 0x4711; // show high-byte sb_7seg_showhexnumber(u.bytes[1]); // show low-byte sb_7seg_showhexnumber(u.bytes[0]); u.val.bytes 0x4711 0x11 0x47 s P µ 2st r t t r 5 1 rs r t2 struct union

79 s t tr t r s s s r t t t r rt st r s 3 r t s s r 3 ö typedef union { volatile uint8_t reg; // complete register volatile struct { uint8_t ISC0 : 2; // components uint8_t ISC1 : 2; uint8_t reserved : 4; ; EICRA_t; void foo(void) { EICRA_t *eicra = (EICRA_t *) 0x69; uint8_t oldval = eicra->reg; // save register eicra->isc0 = 2; // use register eicra->isc1 = 1; // eicra->reg = oldval; // restore register s P µ 2st r t t r 5 1 rs r t2 struct union

80 Ü r 2st t r t Pr r str t r r r µ 2st r t t r ä t P t r r s t

81 r s P r r rät tr tt r s P rt P s t r st r t rt r t s Pr r s ä r s t t r t r r P s Pr r ü r rü t st r äÿ r t r t s t t rr t rät t s Pr 3 ss r r r r t s t r3 t s P ä t 5 t rr ts ü r

82 t rr t t s r ÿ main() call: explizite Aktivierung durch Funktionsaufruf handler() if( ) handler(); handler() ret interrupt: implizite Aktivierung durch Hardwaresignal isr() iret isr: interrupt service routine t 1 t 2 t 3 t 4 t 5 (z. B. Pegelwechsel an Pin) (z. B. Timer abgelaufen) s P ä t 5 t rr ts ü r

83 P s t rr ts r t P t st rt s 2st r s r t r t s2 r 3 Pr r r s r ü r s Pr r rstr t r r rs Pr 3 ss r3 t s r t r r r q t s P Pr 3 ss r st r r r r 3 t t s st 3 r st s q t Pr r Pr r r t t r rs r t rr ts r s st rt s 2st r s r t r t s2 r 3 Pr r r s r t Pr r t 1t t s r rt r Pr 3 ss r r r s r t r s t tsä tr tt ö r 1 tät r ä t 2 r s t r r r Pr r r t s r r rs r r r t s 3 s r t s s r t ss3 r s s P ä t 5 t rr ts ü r

84 t rr t r rs r r r ÿ main() handler() if( ) handler(); handler() ret buf[...] isr() iret t 1 t 2 t 3 t 4 t 5 (z. B. Pegelwechsel an Pin) (z. B. Timer abgelaufen) s P ä t 5 t rr ts ü r

85 t rr ts rr st t rr ts s t r s t s rrt r r öt t 3 r 2 r s t t s 3 t rät s 3 s t rr st r s t IE t rr t t t sr st r r P s r ü r s rt 1 r r ä r rr3 t ö s r r t rr t st s IE t r sst r Pr 3 ss r cli IE r t rr t s s rrt sei IE s t t rr t s r t IE s s 3 s t r r s s rrt tr t r IE s s ä r r t rr t r t s rrt s P ä t 5 t rr ts t r

86 t rr ts rr s IE=1 sei() cli() sei() IE=0 main() isr() buf[...] Verzögerung t 1 t 2 t 3 t 4 t 5 t 6 iret (z. B. Timer abgelaufen) t t t t t t t t main() s s s rrt IE t sei() cli() r s r IE r t s rrt r IE r t st t r rü t r rt main() t s r IE rt r s ä t r ä r r r t s s s rrt IE t r r s main() r rt s t3t s P ä t 5 t rr ts t r

87 s t rr ts Ü r ➊ rät s s rt t rr t s r r r tt r r ä st s t IE t r r ➋ st t r r t rr ts r s rrt IE s 3 t t rr ts r rt 1 r r ➌ st r t r s rt 3 t P t t sr st r t t s r r r 3 r st r ü r s r ➍ 3 r t rr t r r r tt t ➎ r s ü rt ➏ t r rt t r t r r t rr t st r t r r st r rt st t rr ts r r IE s s r r r rt s t3t ➀ ➁ ➂➃ Interrupt-Handler ➅ ➄ s P ä t 5 t rr ts t r

88 s t rr ts t s IRQs enabled bit RESET PC = 0x0000 Zero bit Programmspeicher SR RESET Vcc INT... Z IE 0 1 SR PC SR` µc IP 0 PC` R1 R1` Bus main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... isr: ldi R1,1 dec R1 sts a, R1 iret 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 0x0200 0x0202 0x0204 0x0206 SR.IE && IP false w = *PC++ decode(w) true w = icall IRQ pending bit execute(w) r s r t r s r s Ps r 3 ss rs r t rr tq ä t st r r r r r r tt t w: call <func> PC` = PC PC = func w: ret PC = PC` w: icall SR` = SR SR.IE = 0 IP = 0 PC` = PC PC = isr R1` = R1 w: iret SR = SR` PC = PC` R1 = R1` s P ä t 5 t rr ts t r

89 s t rr ts t s IRQs enabled bit RESET PC = 0x0000 Zero bit Programmspeicher SR RESET Vcc ➊ INT... Z IE 0 1 SR PC SR` µc IP 1 PC` R1 R1` Bus main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... isr: ldi R1,1 dec R1 sts a, R1 iret 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 0x0200 0x0202 0x0204 0x0206 SR.IE && IP false w = *PC++ decode(w) true w = icall ➊ Gerät signalisiert Interrupt (aktueller Befehl wird noch fertiggestellt) execute(w) w: call <func> PC` = PC PC = func w: ret PC = PC` w: icall SR` = SR SR.IE = 0 IP = 0 PC` = PC PC = isr R1` = R1 w: iret SR = SR` PC = PC` R1 = R1` s P ä t 5 t rr ts t r

90 s t rr ts t s IRQs enabled bit RESET PC = 0x0000 Zero bit Programmspeicher SR RESET Vcc INT... Z IE 0 1 SR PC SR` µc IP 1 PC` R1 R1` Bus main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... isr: ldi R1,1 dec R1 sts a, R1 iret 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 0x0200 0x0202 0x0204 0x0206 SR.IE && IP false w = *PC++ decode(w) true w = icall (Vor dem nächsten instruction fetch wird der Interruptstatus überprüft) execute(w) w: call <func> PC` = PC PC = func w: ret PC = PC` w: icall SR` = SR SR.IE = 0 IP = 0 PC` = PC PC = isr R1` = R1 w: iret SR = SR` PC = PC` R1 = R1` s P ä t 5 t rr ts t r

91 s t rr ts t s IRQs enabled bit RESET PC = 0x0000 Zero bit Programmspeicher SR RESET ➌ Vcc INT... Z IE 0 0 SR PC SR` µc IP 0 PC` R1 R1` ➋ Bus main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... isr: ldi R1,1 dec R1 sts a, R1 iret 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 0x0200 0x0202 0x0204 0x0206 SR.IE && IP false w = *PC++ decode(w) true w = icall ➋ Die Zustellung weiterer Interrupts wird verzögert ➌ Registerinhalte werden gesichert w: call <func> PC` = PC PC = func execute(w) w: ret w: icall PC = PC` SR` = SR SR.IE = 0 IP = 0 PC` = PC PC = isr R1` = R1 w: iret SR = SR` PC = PC` R1 = R1` s P ä t 5 t rr ts t r

92 s t rr ts t s IRQs enabled bit RESET PC = 0x0000 Zero bit Programmspeicher SR RESET Vcc INT... Z IE 0 0 SR PC SR` µc IP 0 PC` R1 R1` Bus ➍ main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... isr: ldi R1,1 dec R1 sts a, R1 iret 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 0x0200 0x0202 0x0204 0x0206 SR.IE && IP false w = *PC++ decode(w) true w = icall ➍ Aufzurufende ISR wird ermittelt execute(w) w: call <func> PC` = PC PC = func w: ret PC = PC` w: icall SR` = SR SR.IE = 0 IP = 0 PC` = PC PC = isr R1` = R1 w: iret SR = SR` PC = PC` R1 = R1` s P ä t 5 t rr ts t r

93 s t rr ts t s IRQs enabled bit RESET PC = 0x0000 Zero bit Programmspeicher SR RESET Vcc INT... Z IE 1 0 SR PC SR` µc IP 0 PC` R1 0 R1` Bus main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... isr: ldi R1,1 dec R1 sts a, R1 iret 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 0x0200 0x0202 0x0204 0x0206 SR.IE && IP false w = *PC++ decode(w) true w = icall ➎ ISR wird ausgeführt execute(w) w: call <func> PC` = PC PC = func w: ret PC = PC` w: icall SR` = SR SR.IE = 0 IP = 0 PC` = PC PC = isr R1` = R1 w: iret SR = SR` PC = PC` R1 = R1` s P ä t 5 t rr ts t r

94 s t rr ts t s IRQs enabled bit RESET PC = 0x0000 Zero bit Programmspeicher SR RESET ➏ Vcc INT... Z IE 0 1 SR PC SR` µc IP 0 PC` R1 R1` ➏ Bus ➏ main: ldi R1, 48 dec R1 beq L1 call f sub R1, 58 L1:... f: add R1, 11 ret... isr: ldi R1,1 dec R1 sts a, R1 iret 0x0000 0x0002 0x0004 0x0006 0x0008 0x000A 0x0100 0x0102 0x0200 0x0202 0x0204 0x0206 SR.IE && IP false w = *PC++ decode(w) true w = icall ➏ ISR terminiert mit iret-befehl Registerinhalte werden restauriert Zustellung von Interrupts wird reaktiviert Das Anwendungsprogramm wird fortgesetzt w: call <func> PC` = PC PC = func execute(w) w: ret w: icall PC = PC` SR` = SR SR.IE = 0 IP = 0 PC` = PC PC = isr R1` = R1 w: iret SR = SR` PC = PC` R1 = R1` s P ä t 5 t rr ts t r

95 P st rt t rr ts s s s rt st rs t st r rü s ss st rt r t rr t t rr t r r P s s öst ä st r r r st t rr t s ös s P st rt r t rr t t rr t r r r s öst s r P t s P ä t 5 t rr ts t r

96 t rr tst r P t rr t st Vector No Program Address Source Interrupts definition 3 t r r r t r r ss 1 0x0000 RESET External Pin, Power-on Reset, Brown-out Reset and Watchdog System Reset 2 0x0002 INT0 External Interrupt Request 0 3 0x0004 INT1 External Interrupt Request 0 4 0x0006 PCINT0 Pin Change Interrupt Request 0 rs t P r INT0 PD2 tt r r s t t r t INT1 PD3 tt 5 0x0008 PCINT1 Pin Change Interrupt Request 1 6 0x000A PCINT2 Pin Change Interrupt Request 2 7 0x000C WDT Watchdog Time-out Interrupt 8 0x000E TIMER2_COMPA Timer/Counter2 Compare Match A 9 0x0010 TIMER2_COMPB Timer/Coutner2 Compare Match B 10 0x0012 TIMER2_OVF Timer/Counter2 Overflow 11 0x0014 TIMER1_CAPT Timer/Counter1 Capture Event 12 0x0016 TIMER1_COMPA Timer/Counter1 Compare Match A 13 0x0018 TIMER1_COMPB Timer/Coutner1 Compare Match B 14 0x001A TIMER1_OVF Timer/Counter1 Overflow 15 0x001C TIMER0_COMPA Timer/Counter0 Compare Match A 16 0x001E TIMER0_COMPB Timer/Coutner0 Compare Match B 17 0x0020 TIMER0_OVF Timer/Counter0 Overflow 18 0x0022 SPI0 STC SPI1 Serial Transfer Complete 19 0x0024 USART0_RX USART0 Rx Complete 20 0x0026 USART0_UDRE USART0, Data Register Empty 21 0x0028 USART0_TX USART0, Tx Complete 22 0x002A ADC ADC Conversion Complete s P ä t 5 t rr ts s

97 1t r t rr ts st r t rr st r ür INT0 INT1 EIMSK 1t r t rr t s st r t st INT s s ös t INT r t rt s t INT INT1 INT0 R/W R/W EICRA 1t r t rr t tr st r t ür 1t r t rr ts INT0 INT1 st r s öst r P st r ISC11 ISC10 ISC01 ISC00 R/W R/W R/W R/W s 3 t rr t s tr ts ISC 0 ISC 1 st r s ös r ür INT1 ür INT0 t ts r s ISC11 ISC10 Description 0 0 The low level of INT1 generates an interrupt request. 0 1 Any logical change on INT1 generates an interrupt request. 1 0 The falling edge of INT1 generates an interrupt request. 1 1 The rising edge of INT1 generates an interrupt request. s P ä t 5 t rr ts s

98 1t r t rr ts r r tt st t r t rr t r t s r st r t s r r rst t rstüt3 r avrlibc r ISR(SOURCE_vect) avr/interrupt.h #include <avr/interrupt.h> #include <avr/io.h> ISR(INT1_vect) { // invoked for every INT1 IRQ static uint8_t counter = 0; sb_7seg_shownumber(counter++); if (counter == 100) counter = 0; void main(void) { // setup s P ä t 5 t rr ts s

99 1t r t rr ts r rts r tt r r r t rr t t r t rr st r s ts r t s r t rstüt3 r avrlibc r s ür t 3 s avr/interrupt.h avr/io.h void main(void) { DDRD &= ~(1<<PD3); // PD3: input with pull-up PORTD = (1<<PD3); EICRA &= ~(1<<ISC10 1<<ISC11); // INT1: IRQ on level=low EIMSK = (1<<INT1); // INT1: enable sei(); // global IRQ enable r tt t rr ts 3 ss s ss r rät t s r t rstüt3 r avrlibc sei() avr/interrupt.h s P ä t 5 t rr ts s

100 1t r t rr ts r rts r tt ts 3 t tr s r s tr t sleep str t ä t P s tr t s st r r s r tr r r t t rstüt3 r avrlibc avr/sleep.h sleep_enable() sleep_disable() s r r t sleep_cpu() s tr t #include <avr/sleep.h> void main(void) { sei(); while(1) { sleep_enable(); sleep_cpu(); sleep_disable(); // global IRQ enable // wait for IRQ t t r sleep_enable() sleep_disable() s r r s s s rs t s tr t s st s 3 r Pr r r r r t r r r r 3 r s P ä t 5 t rr ts s

101 ä t t ä t Pr r s ü r s ä ür 3 str t s s t stst t r t tsä 3 rst s ü rt r, r, ä t tr tt r t rr ts s ö Pr r r t t r r t r ä r r r r P P r r r t r3 t r 3 s r ä 3 ä tr ss2st tr ss2st r3 t Pr 3 ss r t3 Pr ä r s st s P ä t 5 ä t tt s t t

102 ä ts r 3 r ts r P r s s r3 3ä r r rt r ts st ü r tt t static volatile uint16_t cars; void main(void) { while (1) { waitsec(60); send(cars); cars = 0; // photo sensor is connected // to INT2 ISR(INT2_vect) { cars++; st r s Pr main() s ISR s s r cars P t t st t röÿ r r cars ü rst t st r r t P t t r t s P ä t 5 ä t tt s t t

103 ä ts r rts s r Pr st t main() s ISR s s r cars r t röÿ r r cars ü rst t st r r t r t rst r ss r t void main(void) { send(cars); cars = 0; // photosensor is connected // to INT2 ISR(INT2_vect) { cars++; main: lds r24,cars lds r25,cars+1 rcall send sts cars+1, zero_reg sts cars, zero_reg INT2_vect: ; save regs lds r24,cars ; load cars.lo lds r25,cars+1 ; load cars.hi adiw r24,1 ; add (16 bit) sts cars+1,r25 ; store cars.hi sts cars,r24 ; store cars.lo ; restore regs s P ä t 5 ä t tt s t t

104 ä ts r st t main: lds r24,cars lds r25,cars+1 rcall send sts cars+1, zero_reg sts cars, zero_reg INT2_vect: ; save regs lds r24,cars lds r25,cars+1 adiw r24,1 sts cars+1,r25 sts cars,r24 ; restore regs cars s r t tr tt r main t rt cars r ts st r s st r r INT2_vect r s ü rt st r r r tt t cars r r t rt cars st r r r r st t main ü r t r t t rt cars send main t cars t st r r s P ä t 5 ä t tt s t t

105 ä ts r r t main: lds r24,cars lds r25,cars+1 rcall send sts cars+1, zero_reg sts cars, zero_reg INT2_vect: ; save regs lds r24,cars lds r25,cars+1 adiw r24,1 sts cars+1,r25 sts cars,r24 ; restore regs cars s r t tr tt r main t r ts cars t s t send t main t r ts s 2t cars t cars cars.lo cars.hi INT2_vect r s ü rt cars r s r t rt Ü r s 2t cars cars.lo cars.hi main t s 2t cars cars cars.lo cars.hi ä st send r t s 3 t s P ä t 5 ä t tt s t t

106 t rr ts rr t ss r r void main(void) { while(1) { waitsec(60); cli(); send(cars); cars = 0; sei(); r t s s t st s r t s t s cars cars üss t r s ü rt r s r t t rr ts rr rr t r ISR t r r t main r rt s2 tr s 2 r s t t t rr ts rr s t s r3 ö s r t t send r send s r t s t r s3 s P ä t 5 ä t tt s t t

107 ä ts r rts 3 r t waitsec() ts r P r s s r3 3ä r r rt r ts st ü r tt t void waitsec(uint8_t sec) { // setup timer sleep_enable(); event = 0; while (! event) { // wait for event sleep_cpu(); // until next irq sleep_disable(); static volatile int8_t event; // TIMER1 ISR // triggers when // waitsec() expires ISR(TIMER1_COMPA_vect) { event = 1; st r s Pr st ts 3 t st t s t s 3 t st P t t st s P ä t 5 ä t tt s t t

108 ä ts r st void waitsec(uint8_t sec) { // setup timer sleep_enable(); event = 0; while (! event) { sleep_cpu(); sleep_disable(); static volatile int8_t event; // TIMER1 ISR // triggers when // waitsec() expires ISR(TIMER1_COMPA_vect) { event = 1; s r t tr tt r r waitsec t r ts st st t ss event t s t3t st ISR r s ü rt event r s t3t event s t3t st r r 3 st tr t s t r r t r rös s s P ä t 5 ä t tt s t t

109 st r rös s r r void waitsec(uint8_t sec) { // setup timer sleep_enable(); event = 0; cli(); while (! event) { sei(); r t s s t sleep_cpu(); cli(); sei(); sleep_disable(); static volatile int8_t event; // TIMER1 ISR // triggers when // waitsec() expires ISR(TIMER1_COMPA_vect) { event = 1; st s r t s t st r tr t s 3 st s s r t rr ts rr s r Pr r sleep_cpu() üss s r r t rt s 3 r r r t rstüt3 ss q 3 sei sleep r r P t r s ü rt s P ä t 5 ä t tt s t t

110 s ss t rr t r t r t s2 r 3 Pr r r rt t st ss r t rr t r r r r ä t 2 r s t r r r 2 r s t s ÿ s st s r s volatile r r r st t rr ts s rr cli sei t t r r r s s r r r ä r rr3 t ö s r r ä t r t rr ts st s r r ÿ rq st t st Pr t r st s r st s r 3 ss t 3 r rrs r t r s r t rr t r r s t s st static r s s P ä t 5 s ss

111 Ü r 2st t r t Pr r str t r r r µ 2st r t t r ä t P t r r s t

112 r r s t int a; int b = 1; const int c = 2; // a: global, uninitialized // b: global, initialized // c: global, const t r r ür s r r void main() { static int s = 3; // s: local, static, initialized int x, y; // x: local, auto; y: local, auto char* p = malloc( 100 ); // p: local, auto; *p: heap (100 byte) r t t s t s r r Ü rs t3 tr t st t s r s t r P t3 r r t t 1t t ä t Pr r main() ss t ä t t t s rt r a t t ä t t r rt t s rt r b s r t t ä t rä r r c 2 s t s r r 3 r 3 t tr t t r 1 3 t r rt r t t ä t t t r x y p t ä t 1 3 t t malloc() r rt r r *p s P r r s t 5 ü r

113 r r s t µ int a; int b=1; const int c=2; // a: global, uninitialized // b: global, initialized // c: global, const void main() { static int s=3; // s: local, static, initialized int x, y; // x: local, auto; y: local, auto char* p=malloc(100); // p: local, auto; *p: heap (100 byte) compile / link Quellprogramm r Symbol Table.data... <a> s=3 b=1.rodata c=2.text ELF Header main ELF-Binary Ü rs t3 r Pr r t ts r t r t 3 s sst r t 3 r röÿ r.bss t s r 2 t s P r r s t 5 µ tr r

114 r r s t µ int a; int b=1; const int c=2; // a: global, uninitialized // b: global, initialized // c: global, const void main() { static int s=3; // s: local, static, initialized int x, y; // x: local, auto; y: local, auto char* p=malloc(100); // p: local, auto; *p: heap (100 byte) compile / link Quellprogramm r Flash / ROM.data s=3 b=1.rodata c=2.text main μ-controller flash Symbol Table.data... <a> s=3 b=1.rodata c=2.text ELF Header main ELF-Binary r st t µ r.text.[ro]data s r s µ s P r r s t 5 µ tr r

115 r r s t µ r Flash / ROM RAM init Stack Heap.data copy.data.bss a=0 s=3 b=1.rodata c=2.text... x=? y=? p= *p s=3 b=1 main μ-controller flash int a; int b=1; const int c=2; Symbol Table.data... <a> s=3 b=1.rodata c=2.text compile / link ELF Header main ELF-Binary // a: global, uninitialized // b: global, initialized // c: global, const void main() { static int s=3; // s: local, static, initialized int x, y; // x: local, auto; y: local, auto char* p=malloc(100); // p: local, auto; *p: heap (100 byte) Quellprogramm 2st st rt r s.bss t t t 0 t s rt s.data t r s s s rt s r r ür t s r r t r ü t r t t r ü r t s s r r s r st t r s.data t 3 r 3 t s P r r s t 5 µ tr r

116 2 s r t := Pr r 1 3 t r t t r r s r st ä r Pr r str t r r r r r r ü r 3 s s r t void* malloc( size_t n ) r rt r r röÿ void free( void* pmem ) s #include <stdlib.h> ü r r NULL t 3 r t malloc() r rt r stä r r int* intarray( uint16_t n ) { // alloc int[n] array return (int*) malloc( n * sizeof int ); void main() { int* array = intarray(100); // alloc memory for 100 ints if( array ) { // malloc() returns NULL on failure // if succeeded, use array array[99] = 4711; free( array ); // free allocated block (** IMPORTANT! **) s P r r s t 5 2 s r t

117 2 s r t t r t s r t r ü s r r ss r Ü rs t3 r t t r r t t Pr 3 ss rr st r [e]sp 3 t r ä st r tr t ä st r t t r ä t r t r t r t r s r s t r s r r t t r st r ebp 3 t s t t r s st r esp t r s t Framepointer (Reg. ebp) Stackpointer (Reg. esp) Parameter für f1 Rücksprungadresse in main gesicherter Framepointer von main Lokale Variablen von f1 gerettete Register (falls nötig) Parameter für f2 Rücksprungadresse aus f2 zurück in f1 gesicherter Framepointer von f1 Lokale Variablen von f2 main( ) f1( ) f2( ) s P r r s t 5 2 s r t t

118 t t s r r Stack mehrerer Funktionsaufrufe int main() { int a, b, c; a = 10; b = 20; f1(a, b); return(a); Stack-Frame für main erstellen &a = fp-4 &b = fp-8 &c = fp-12 sp fp return-addr fp retten s r ür t r t t r 2t ints main() r s tr t a b c s P r r s t 5 2 s r t t

119 t t s r Stack mehrerer Funktionsaufrufe int main() { int a, b, c; a = 10; b = 20; f1(a, b); return(a); Parameter auf Stack legen Bei Aufruf sp fp Rücksprungadresse auf Stack legen return-addr fp retten a b c Parameter b Parameter a main return-addr r main() r t t r f1(int, int) r s P r r s t 5 2 s r t t

120 t t s r r Stack mehrerer Funktionsaufrufe int main() { int a, b, c; a = 10; b = 20; f1(a, b); return(a); int f1(int x, int y) { int i[3]; int n; x++; n = f2(x); return(n); f1() r s tr t y x Stack-Frame für f1 erstellen und aktivieren &x = fp+8 &y = fp+12 &(i[0]) = fp-12 &n = fp-16 sp sp fp fp i[4] = 20 würde return-addr. zerstören return-addr fp retten a b c Parameter b Parameter a main return-addr main-fp (1996) i[2] i[1] i[0] n s P r r s t 5 2 s r t t

121 t t s r r Stack mehrerer Funktionsaufrufe int main() { int a, b, c; a = 10; b = 20; f1(a, b); return(a); int f1(int x, int y) { int i[3]; int n; x++; n = f2(x); return(n); int f2(int z) { int m; m = 100; return(z+1); sp Stack-Frame von f2 abräumen ➊sp = fp sp ➋fp = pop(sp) fp fp return-addr fp retten a b c Parameter b Parameter a main return-addr main-fp (1996) i[2] i[1] i[0] n Parameter x f1 return-addr f1-fp (1968) f2() r t t r r r r f1() r s ü rt ➋ ➋ ➊ m s P r r s t 5 2 s r t t

122 t t s r r Stack mehrerer Funktionsaufrufe int main() { int a, b, c; a = 10; b = 20; f1(a, b); return(a); int f1(int x, int y) { int i[3]; int n; x++; n = f2(x); return(n); int f2(int z) { int m; m = 100; return(z+1); f2() r r ss ➌return y Rücksprung x sp fp ➌ return-addr fp retten a b c Parameter b Parameter a main return-addr main-fp (1996) i[2] i[1] i[0] n Parameter x f1 return-addr f1-fp (1968) m s P r r s t 5 2 s r t t

123 t t s r r Stack mehrerer Funktionsaufrufe int main() { int a, b, c; a = 10; b = 20; f1(a, b); return(a); 3 rü main() sp fp return-addr fp retten a b c Parameter b Parameter a main return-addr main-fp (1996) i[2] i[1] i[0] n Parameter x f1 return-addr f1-fp (1968) m s P r r s t 5 2 s r t t

124 r t t s r Stack mehrerer Funktionsaufrufe int main() { int a, b, c; a = 10; b = 20; f1(a, b); f3(4,5,6); was wäre, wenn man nach f1 jetzt eine Funktion f3 aufrufen würde? int f3(int z1, int z2, int z3) { int m; return(m); m r t t s rt r t t rt t z3 sp z2 sp fp fp z1 return-addr fp retten a b c main return-addr main-fp (1996) m i[0] n i[1] Parameter x f1 return-addr f1-fp retten m s P r r s t 5 2 s r t t

125 t t s rs s 2 s t r µ t r st t s t r3 t rt r t3 r st r ts Ü rs t3 1 t t 3 t size s r r r rü 3 t r r r st lohmann@faui48a:$ size sections.avr text data bss dec hex filename ba sections.avr t s röÿ s Pr r s r ö st r static r r r r r st ö t r t t r r st ö s r s r st r ä t s äÿ t r r ö st r sät3 r st r r t sstr t r r r 3 r 3 t s t s ät3 r s Pr r r r r s s P r r s t 5 t t s s 2 s t